//
// Created by lqk on 2022/1/30.
//

#ifndef QUADCEREBELLUM_DEFAULTGAITPLANNER_H
#define QUADCEREBELLUM_DEFAULTGAITPLANNER_H
#include "Eigen/Core"

struct Gait{
    Gait(){Zero();}
    void Zero();
    float m_period;
    float m_phaseSwitchPoint;//From stance to swing;
    Eigen::Array4f m_phaseOffsets;//Sequence is FR,FL,BR,BL

};
class DefaultGaitPlanner {
public:
    DefaultGaitPlanner()=default;
    DefaultGaitPlanner(const float& period);

private:
    Gait m_trot,m_staticWalk;
};


#endif //QUADCEREBELLUM_DEFAULTGAITPLANNER_H
